CN102963252B - A kind of anxious accelerator releasing moment of torsion filtering control method of pure electric automobile - Google Patents
A kind of anxious accelerator releasing moment of torsion filtering control method of pure electric automobile Download PDFInfo
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- CN102963252B CN102963252B CN201210487779.5A CN201210487779A CN102963252B CN 102963252 B CN102963252 B CN 102963252B CN 201210487779 A CN201210487779 A CN 201210487779A CN 102963252 B CN102963252 B CN 102963252B
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Abstract
The present invention relates to the anxious accelerator releasing moment of torsion filtering control method of a kind of pure electric automobile, comprise the following steps: 1) the first time constant filter and the second time constant filter are set；2) vehicle control device controls motor filtering torque by initial value to the change of first object value；3) motor filtering torque progressively close to first object value in the first time constant filter；4) first stage controls to terminate, and motor filtering torque is changed to the second desired value by first object value in the second time constant filter.The invention have the benefit that by this kind of control method, it is possible to effective raising motor filtering torque is changed to the ride comfort in the middle of generating torque process from driving torque；Ensure that vehicle eliminates the sensation driving discomfort of vehicle pause and transition in rhythm or melody in the moment of anxious accelerator releasing pedal；While ensureing the Brake energy recovery efficiency of vehicle, a certain degree of improve cornering ability and comfort property.
Description
Technical field
The present invention relates to pure electric automobile technical field, particularly relate to the anxious accelerator releasing moment of torsion filtering control method of a kind of pure electric automobile.
Background technology
Along with attention to energy security and environmental protection problem constantly promotes in the world, automotive emissions are required more and more stricter by various countries.Reduce the dependence to the energy, it is achieved energy-saving and emission-reduction, it has also become the problem that World Economics sustainable development is in the urgent need to address.Hybrid vehicle, pure electric automobile have become the trend of current car industry development.Pure electric automobile has pollution-free, and noise is little, simple in construction, the advantage in terms of maintenance.Meanwhile, energy when the recyclable braking of pure electric automobile, descending, improves capacity usage ratio.And pure electric automobile can utilize cheap " paddy electricity " charging at night, plays the effect of the peak-valley difference stabilizing electrical network.Therefore, the research of pure electric automobile, is the popular research direction of China and world car industry.
In pure electric automobile, motor is power source, entire car controller (VCU) is the core of car load direct torque, by gathering accelerator pedal, the signal such as motor speed and automobile gear level, it is calculated the demand torque of driver, and through over torque filtering and arbitration etc., obtains vehicle target demand torque, issuing electric machine controller, final electric machine controller realizes this torque.By the direct torque of VCU, to realize the good cornering ability of vehicle and energy optimization.
Wherein, anxious accelerator releasing torque filtering controls also to be one of key technology in pure electric automobile field, and it is also evolving progress.During pure electric automobile urgency accelerator releasing, quickly, if rationally do not filtered this torque, the vehicle shake of anxious accelerator releasing can be very big, and driving is poor for the parsing torque drop of pedal.Meanwhile, if the actual torque of motor is near zero-turn square, if request torque change is too fast, vehicle pause and transition in rhythm or melody sense is serious, and driving is very poor.Therefore, during the torque filtering at anxious accelerator releasing controls, it is easy to the impact causing vehicle is very big, needs the torque of conservative control the first process and the second process to filter, control strategy and the demarcation of optimization are extremely important for solving driving problem.
In the middle of prior art, the process for pure electric automobile urgency accelerator releasing typically takes simple Filtering Processing, the method limited including the rate of change for motor filtering torque.But do not change to carry out extra protection in the middle of generating torque process from driving torque for motor filtering torque in the middle of said method；Also easily the uncomfortable driving experiences such as vehicle pause and transition in rhythm or melody are caused because of vehicle torque change in the moment of anxious accelerator releasing pedal；Also fail to the different demands that refinement reduces the torque change of driving torque and increase generating torque simultaneously, improve Brake energy recovery efficiency for vehicle and guarantee driving aspect leaves certain room for promotion.
Summary of the invention
It is an object of the invention to provide a kind of control method, it is possible to the effective electric vehicle that controls, when at anxious accelerator releasing motor request torque rapid decrease, is filtered by torque, reduces vehicular impact, the efficiency improving the comfortableness driven, ensureing Brake energy recovery；Solve the problem that existing system cannot carry out the Filtering Processing of complexity to pure electric vehicle urgency accelerator releasing process.
The purpose of the present invention is achieved through the following technical solutions:
The anxious accelerator releasing moment of torsion filtering control method of a kind of pure electric automobile, comprises the following steps:
1) adjust and arrange the first time constant filter and the second time constant filter according to the combined factors such as engine speed and automobile gear level；
2) after vehicle control device receives the signal that anxious accelerator releasing condition meets, vehicle control device controls motor filtering torque and is changed to first object value by initial value；
3) according to setting complete the first time constant filter, motor request torque progressively close to first object value in the first time constant filter, this process is the first stage；And
4) when the request torque of described motor and first object value are close to during to limit value, and first stage control terminates, and motor filtering torque is changed to the second desired value by first object value in the second time constant filter, and this process is second stage.
Further, described anxious accelerator releasing condition is, when vehicle is under normal transport condition, the state significantly stepped on from gas pedal is changed to unclamp the moment of gas pedal；Wherein, think that gas pedal is in the state significantly stepped on when gas pedal amplitude is more than 50% and at least continues 0.5s.
In the described first stage, the filtering method establishing method of motor filtering torque instruction is as follows: use first-order filtering to be filtered the torque instruction of motor processing, and time constant filter is from diminishing greatly, to control the change of motor filtering torque from accelerating slowly.
In described second stage, the filtering method establishing method of motor filtering torque instruction is as follows: use first-order filtering to be filtered the torque instruction of motor processing, and time constant filter is big from little change, to control the change of motor filtering torque from the most slack-off.
Preferably, limit value described in step 4) is 0.5N m.
Preferably, described first time constant filter scope is 0.3 ~ 0.5, and the second time constant filter scope is 0.5 ~ 1.0；And first the meansigma methods of time constant filter less than the second time constant filter so that the torque average rate of change of first stage is more than the torque average rate of change of second stage.
Preferably, described first object value is-5 ~ 5N m, and the scope of described second desired value is essentially-5 ~-40N m.
The invention have the benefit that by this kind of control method, it is possible to effective raising motor filtering torque is changed to the ride comfort in the middle of generating torque process from driving torque；Ensure that vehicle eliminates the sensation driving discomfort of vehicle pause and transition in rhythm or melody in the moment of anxious accelerator releasing pedal；While ensureing the Brake energy recovery efficiency of vehicle, a certain degree of improve cornering ability and comfort property.
Accompanying drawing explanation
Fig. 1 is the control process schematic of the anxious accelerator releasing moment of torsion filtering control method of a kind of pure electric automobile shown in the embodiment of the present invention；
Fig. 2 is the curve synoptic diagram of the torque change in the anxious accelerator releasing moment of torsion filtering control method of a kind of pure electric automobile shown in the embodiment of the present invention.
Detailed description of the invention
The anxious accelerator releasing moment of torsion filtering control method of a kind of pure electric automobile described in the embodiment of the present invention, comprises the following steps:
1) adjust and arrange the first time constant filter and the second time constant filter according to the combined factors such as engine speed and automobile gear level；
2) after vehicle control device receives the signal that anxious accelerator releasing condition meets, vehicle control device controls motor filtering torque and is changed to first object value by initial value；
3) according to setting complete the first time constant filter, motor request torque progressively close to first object value in the first time constant filter, this process is the first stage；And
4) when the request torque of described motor and first object value are close to during to limit value, and first stage control terminates, and motor filtering torque is changed to the second desired value by first object value in the second time constant filter, and this process is second stage.
Further, described anxious accelerator releasing condition is, when vehicle is under normal transport condition, the state significantly stepped on from gas pedal is changed to unclamp the moment of gas pedal；Wherein, think that gas pedal is in the state significantly stepped on when gas pedal amplitude is more than 50% and at least continues 0.5s.
In the described first stage, the filtering method establishing method of motor filtering torque instruction is as follows: use first-order filtering to be filtered the torque instruction of motor processing, and time constant filter is from diminishing greatly, to control the change of motor filtering torque from accelerating slowly.
In described second stage, the filtering method establishing method of motor filtering torque instruction is as follows: use first-order filtering to be filtered the torque instruction of motor processing, and time constant filter is big from little change, to control the change of motor filtering torque from the most slack-off.
Preferably, limit value described in step 4) is 0.5N m.
Preferably, described first time constant filter scope is 0.3 ~ 0.5, and the second time constant filter scope is 0.5 ~ 1.0；And first the meansigma methods of time constant filter less than the second time constant filter so that the torque average rate of change of first stage is more than the torque average rate of change of second stage.
Preferably, described first object value is-5 ~ 5N m, and the scope of described second desired value is essentially-5 ~-40N m.
When being embodied as, the anxious accelerator releasing torque filtering control method of described pure electric automobile has mainly been controlled by the entire car controller VCU on pure electric automobile.
Wherein, Fig. 1 is that the anxious accelerator releasing torque filtering provided according to the embodiment of the present invention controls process schematic, and Fig. 2 is the curve synoptic diagram of the torque change of anxious accelerator releasing torque filtering control process shown in Fig. 1.
As depicted in figs. 1 and 2, the anxious accelerator releasing moment of torsion filtering control method of a kind of pure electric automobile described in the embodiment of the present invention, motor filtering direct torque divides two different phase processes, and is respectively provided with different control strategies and carries out direct torque.
Before anxious accelerator releasing will occur, the general accelerator pedal of manipulator of pure electric automobile, keep the acceleration carrying out vehicle.As in figure 2 it is shown, at t0Before moment, motor filtering torque maintains fixed value, and motor speed is slowly increased.At t0In the moment, driver needs due to vehicle deceleration, anxious accelerator releasing.
At t0To t1Time period, motor request torque is changed to, from initial value, the first process that first object is straight, and the time that this process maintains is about 0.5 second.In this process, motor request torque from initial value quickly be changed to first object value.Typically, first object value is about zero-turn square, is optimized when can test according to the actual driving of vehicle.Motor asks torque from initial value through the first time constant filter t1Being changed to first object value slowly, torque change procedure smoothes out.Typically, the first time constant filter t1Value be about 0.3-0.5.By the filtering of the target torque of this process, mainly for solving at anxious accelerator releasing at that moment, prevent owing to vehicle torque bust causes the shake of vehicle.If but t1Value excessive, vehicle urgency accelerator releasing process can be caused, the deceleration of vehicle is spent slowly, unfavorable to driving.Accordingly, it would be desirable to aggregate balancing the two aspect, by assay optimization and demarcation, the first time constant filter t identified project1, determine the driving improving anxious accelerator releasing moment vehicle.
At t1To t2Time period, motor request torque is changed to the second process of the second desired value from first object value, and the time that this process maintains is about 0.8 second.In this process, motor request torque from first object value quickly be changed to the second desired value.Typically, the second desired value is about-5 ~-30 Ns of rice, is optimized when can test according to the actual driving of vehicle.The target torque of motor from first object value through the second time constant filter t2Being changed to the second desired value slowly, torque change procedure smoothes out.Typically, the second time constant filter t2Value be about 0.5-1.0.By the filtering of the target torque of this process, mainly for solving to be changed to negative torque at that moment at motor from positive torque, the shake of the vehicle caused due to the characteristic of motor.If but t2Value excessive, motor can be caused long to the process of the second desired value, the overall regenerating braking energy of motor diminishes, unfavorable to the energy regenerating of vehicle.Accordingly, it would be desirable to aggregate balancing the two aspect, by assay optimization and demarcation, the second time constant filter t identified project2, determine the driving improving anxious accelerator releasing moment vehicle.By assay optimization and demarcation, the driving of vehicle when improving motor zero passage torque.
(t during two above0To t1、t1To t2), it being optimized by this control strategy and to each moment and filter factor, the dynamic output torque smooth-going change of car load, the shake of vehicle is the least, and driver comfort is good.
In this embodiment, it is preferred that with actual motor torque for t during zero-turn square1As a reference point make motor filtering torque carry out the second process filtering, so that actual motor torque is when zero passage, it is possible to more slowly varying, it is ensured that vehicle travel ride comfort.
Although above only describes the detailed description of the invention example of the present invention, it will be appreciated by those of skill in the art that these are merely illustrative of, protection scope of the present invention is defined by the appended claims.These embodiments, on the premise of without departing substantially from the principle of the present invention and essence, can be made various changes or modifications, but these changes or amendment each fall within protection scope of the present invention by those skilled in the art.
Claims (4)
1. the anxious accelerator releasing moment of torsion filtering control method of a pure electric automobile, it is characterised in that comprise the following steps:
1) adjust and arrange the first time constant filter and the second filtering time according to the combined factors of engine speed and automobile gear level
Constant；
2) after vehicle control device receives the signal that anxious accelerator releasing condition meets, vehicle control device controls motor filtering torque by initially
It is worth and changes to first object value；
3) according to setting complete the first time constant filter, motor request torque in the first time constant filter progressively to first
Desired value is close, and this process is the first stage；And
4) when the request torque of described motor and first object value are close to during to limit value, and first stage control terminates, and motor filtering torque exists
Being changed to the second desired value by first object value in second time constant filter, this process is second stage；Wherein, described first
Time constant filter scope is 0.3～0.5, and the second time constant filter scope is 0.5～1.0；And first time constant filter flat
Average is less than the second time constant filter.
The anxious accelerator releasing moment of torsion filtering control method of a kind of pure electric automobile the most according to claim 1, it is characterised in that institute
Stating anxious accelerator releasing condition is: when vehicle is under normal transport condition, the state significantly stepped on from gas pedal is changed to unclamp
The moment of gas pedal；Wherein, when gas pedal amplitude more than 50% and at least continues 0.5s, it is believed that gas pedal is in
The state significantly stepped on.
The anxious accelerator releasing moment of torsion filtering control method of a kind of pure electric automobile the most according to claim 1, it is characterised in that: step
Rapid 4) limit value described in is 0.5N m.
The anxious accelerator releasing moment of torsion filtering control method of a kind of pure electric automobile the most according to claim 1, it is characterised in that: institute
Stating first object value is-5～5N m, and described second desired value is in the range of-5～-40N m.
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| CN201210487779.5A CN102963252B (en) | 2012-11-26 | 2012-11-26 | A kind of anxious accelerator releasing moment of torsion filtering control method of pure electric automobile |
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| CN201210487779.5A CN102963252B (en) | 2012-11-26 | 2012-11-26 | A kind of anxious accelerator releasing moment of torsion filtering control method of pure electric automobile |
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| CN102963252B true CN102963252B (en) | 2016-11-02 |
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| CN105365821B (en) * | 2015-11-23 | 2018-02-23 | 浙江吉利汽车研究院有限公司 | Adaptive cruise accelerated method, apparatus and system |
| CN108528272B (en) * | 2018-03-30 | 2020-09-15 | 北京新能源汽车股份有限公司 | Electric automobile motor control method and device and electric automobile |
| CN109281765A (en) * | 2018-12-03 | 2019-01-29 | 潍柴动力股份有限公司 | The anti-control method and device of smoldering of one kind |
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| CN101898523A (en) * | 2009-05-25 | 2010-12-01 | 日产自动车株式会社 | The controller of battery-driven car and control method |
| CN102336191A (en) * | 2011-07-05 | 2012-02-01 | 昆山力久新能源汽车技术有限公司 | Model-based anti-shake control method for motor-driven vehicle |
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| JP2004272741A (en) * | 2003-03-11 | 2004-09-30 | Nissan Motor Co Ltd | Vibration suppression and control unit |
| JP2004343830A (en) * | 2003-05-13 | 2004-12-02 | Nissan Motor Co Ltd | Controller of hybrid vehicle |
| JP5286921B2 (en) * | 2008-05-12 | 2013-09-11 | 日産自動車株式会社 | Vibration suppression control device for vehicle |
| KR101489981B1 (en) * | 2010-10-12 | 2015-02-06 | 현대중공업 주식회사 | Beatless Control Method of Propulsion Control Device for High Speed Train |
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Patent Citations (4)
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| CN101898523A (en) * | 2009-05-25 | 2010-12-01 | 日产自动车株式会社 | The controller of battery-driven car and control method |
| CN102529946A (en) * | 2010-12-29 | 2012-07-04 | 上海汽车集团股份有限公司 | Regenerative braking control method for hybrid electric vehicle |
| CN102529729A (en) * | 2010-12-29 | 2012-07-04 | 上海汽车集团股份有限公司 | Regenerative braking control method for hybrid vehicle |
| CN102336191A (en) * | 2011-07-05 | 2012-02-01 | 昆山力久新能源汽车技术有限公司 | Model-based anti-shake control method for motor-driven vehicle |
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